In this paper, we propose a novel bilateral teleoperation architecture that allows to optimally render the remote interaction force at the local side while guaranteeing a robustly stable behaviour. Stability is guaranteed by ensuring a proper energy exchange between the local and the remote sides. Desired performance is obtained by optimizing the way energy is exploited for generating the behaviour at each side. The effectiveness of the proposed architecture is experimentally validated on a torque-controlled manipulator and in a surgical scenario, using the da Vinci® Research Kit (dVRK).
An Optimized Two-Layer Approach for Efficient and Robustly Stable Bilateral Teleoperation / Loschi, F.; Piccinelli, N.; Dall'Alba, D.; Muradore, R.; Fiorini, P.; Secchi, C.. - 2021:(2021), pp. 12449-12455. (Intervento presentato al convegno 2021 IEEE International Conference on Robotics and Automation, ICRA 2021 tenutosi a virtual nel 2021) [10.1109/ICRA48506.2021.9561542].
An Optimized Two-Layer Approach for Efficient and Robustly Stable Bilateral Teleoperation
Secchi C.
2021
Abstract
In this paper, we propose a novel bilateral teleoperation architecture that allows to optimally render the remote interaction force at the local side while guaranteeing a robustly stable behaviour. Stability is guaranteed by ensuring a proper energy exchange between the local and the remote sides. Desired performance is obtained by optimizing the way energy is exploited for generating the behaviour at each side. The effectiveness of the proposed architecture is experimentally validated on a torque-controlled manipulator and in a surgical scenario, using the da Vinci® Research Kit (dVRK).
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